Rotation around z-axis in rapid
Hello all.
I am having an issue with my project.
I am struggling to find a way to solve the problem i have, and none of the existing forum posts solved my question.
Qustion:
How do i modify a target in the rapid, so that it rotates around the z-axis by an angle objOrient.
The target that i need to modify is the center of the table, while the tool needs to move along the modified axis of the center of table.
PERS robtarget center_table:=[[269.543,71.1415,275],[0.109643,0.701175,0.704508,5.51904E-6],[0,-1,1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
(it was a const before, but i saw on a forum that it needs to e pers to be modified)
I have successfuly done the part where the tool moves with the modified axis using
I am having an issue with my project.
I am struggling to find a way to solve the problem i have, and none of the existing forum posts solved my question.
Qustion:
How do i modify a target in the rapid, so that it rotates around the z-axis by an angle objOrient.
The target that i need to modify is the center of the table, while the tool needs to move along the modified axis of the center of table.
PERS robtarget center_table:=[[269.543,71.1415,275],[0.109643,0.701175,0.704508,5.51904E-6],[0,-1,1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]];
(it was a const before, but i saw on a forum that it needs to e pers to be modified)
I have successfuly done the part where the tool moves with the modified axis using
center_table.trans.x := x;
center_table.trans.y := y;
WaitTime 0.5;
MoveL center_table,v100,z0,tool0\WObj:=wobj0;
where x and y are coordinates of the new position the tool needs to be relocated at.
I hope you understand my question and are able to help.
p.s. i tried these options:
first moved the tool around z-axis, and then tried to change the center_table, but it didnt work
!MoveL RelTool(Sto_sredina_105,0,0,0,\Rz:=objOrient), v100, z0,tool0\WObj:=wobj0;
where x and y are coordinates of the new position the tool needs to be relocated at.
I hope you understand my question and are able to help.
p.s. i tried these options:
first moved the tool around z-axis, and then tried to change the center_table, but it didnt work
!MoveL RelTool(Sto_sredina_105,0,0,0,\Rz:=objOrient), v100, z0,tool0\WObj:=wobj0;
! center_table:= CRobT(\Tool:=tool0 \WObj:=wobj0);
other options i tried, looking at the forum, but they didnt work/didnt do what i expected them to
other options i tried, looking at the forum, but they didnt work/didnt do what i expected them to
! center_table.rot := OrientZYX(objOrient,0,0);
!center_table.RX := objOrient;
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Comments
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Is this table an external axis?Lee Justice0
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i sent the wrong target information by accident. The right one is this:
center_table:=[[371.428,-2.973,280],[0,0,1,0],[-1,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
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Can you jog it? Is there a PLC controlling it or some drive controller running it?Lee Justice0
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lemster68 said:Can you jog it? Is there a PLC controlling it or some drive controller running it?
So i would assume it's not an external axis. It's a target i assigned in the wobj0, which i want to modify in rapid0 -
You have to put it into manual mode to jog.Lee Justice0
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i have added tooldata for the centre of table axis. is there a way to use that? Since i can jog it now.0
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An additional axis would not use tooldata, it would be a workobject data. Workobject frames can be moved by an external axis. Have you read much of the manuals?Lee Justice0
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This is part of the MOC.cfg file:#MECHANICAL_UNIT:-name "MTT180" -use_activation_relay "" -use_brake_relay "rob1_brake"\-use_robot "MTT180" -allow_move_of_user_frame -activate_at_start_up
And this is where the workobject is declared:PERS wobjdata wobj_MTT180:=[FALSE,FALSE,"MTT180",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];Lee Justice0 -
lemster68 said:This is part of the MOC.cfg file:#MECHANICAL_UNIT:-name "MTT180" -use_activation_relay "" -use_brake_relay "rob1_brake"\-use_robot "MTT180" -allow_move_of_user_frame -activate_at_start_up
And this is where the workobject is declared:PERS wobjdata wobj_MTT180:=[FALSE,FALSE,"MTT180",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];0 -
Trying to understand the problem here.You have a table as an external axis to the robot, and you want the robot to be able to follow the rotation of the table?You can set up a workobject at the tables home position and modify the objectframe of the wobj according to the position of the table. Then you dont have to modify the position(s?) every cycle.0
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Hello ...I don't know if I understand, but a stationary tool created in the center of your object might not solve your problem? So you could, with each movement of the object, rotate the tool and move the robot in relation to the stationary tool.Maybe it helps.0
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